/* Method to set an a priori position of receiver using
* Bancroft's method.
*
* @param Tr Time of observation
* @param Satellite std::vector of satellites in view
* @param Pseudorange std::vector of pseudoranges measured from
* rover station to satellites
* @param Eph Satellites Ephemeris
*
* @return
* 0 if OK
* -1 if problems arose
*/
int ModeledPR::Prepare( const CommonTime& Tr,
std::vector<SatID>& Satellite,
std::vector<double>& Pseudorange,
const XvtStore<SatID>& Eph )
{
Matrix<double> SVP;
Bancroft Ban;
Vector<double> vPos;
PRSolution2 raimObj;
try
{
raimObj.PrepareAutonomousSolution( Tr,
Satellite,
Pseudorange,
Eph,
SVP );
if( Ban.Compute(SVP, vPos) < 0 )
{
return -1;
}
}
catch(...)
{
return -1;
}
return Prepare(vPos(0), vPos(1), vPos(2));
} // End of method 'ModeledPR::Prepare()'
